Merge remote-tracking branch 'origin/develop' into mueller/acs-ss-init

2022-08-29 15:53:57 +02:00
parent 4649c97205 04fb2b1261
commit 3ad7a35f0e
331 changed files with 5495 additions and 19776 deletions
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@ -33,10 +33,10 @@ CoreController::CoreController(object_id_t objectId)
      opDivider5(5),
      opDivider10(10),
      hkSet(this) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  try {
    result = initWatchdogFifo();
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      sif::warning << "CoreController::CoreController: Watchdog FIFO init failed" << std::endl;
    }
    sdcMan = SdCardManager::instance();
@ -50,7 +50,7 @@ CoreController::CoreController(object_id_t objectId)
    sdStateMachine();

    result = initBootCopy();
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      sif::warning << "CoreController::CoreController: Boot copy init" << std::endl;
    }
  } catch (const std::filesystem::filesystem_error &e) {
@ -66,7 +66,7 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {

 void CoreController::performControlOperation() {
  EventMessage event;
-  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
       result = eventQueue->receiveMessage(&event)) {
    switch (event.getEvent()) {
      case (GpsHyperion::GPS_FIX_CHANGE): {
@ -92,8 +92,8 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
  localDataPoolMap.emplace(core::TEMPERATURE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(core::PS_VOLTAGE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(core::PL_VOLTAGE, new PoolEntry<float>({0}));
-  poolManager.subscribeForPeriodicPacket(hkSet.getSid(), false, 10.0, false);
-  return HasReturnvaluesIF::RETURN_OK;
+  poolManager.subscribeForRegularPeriodicPacket({hkSet.getSid(), false, 10.0});
+  return returnvalue::OK;
 }

 LocalPoolDataSetBase *CoreController::getDataSetHandle(sid_t sid) {
@ -105,11 +105,11 @@ LocalPoolDataSetBase *CoreController::getDataSetHandle(sid_t sid) {

 ReturnValue_t CoreController::initialize() {
  ReturnValue_t result = ExtendedControllerBase::initialize();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "CoreController::initialize: Base init failed" << std::endl;
  }
  result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "CoreController::initialize: Setting up alloc failure "
                    "count failed"
                 << std::endl;
@ -126,31 +126,31 @@ ReturnValue_t CoreController::initialize() {
                 << std::endl;
  }
  result = eventManager->registerListener(eventQueue->getId());
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "CoreController::initialize: Registering as event listener failed" << std::endl;
  }
  result = eventManager->subscribeToEvent(eventQueue->getId(),
                                          event::getEventId(GpsHyperion::GPS_FIX_CHANGE));
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
  }
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t CoreController::initializeAfterTaskCreation() {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  sdInfo.pref = sdcMan->getPreferredSdCard();
  sdcMan->setActiveSdCard(sdInfo.pref);
  currMntPrefix = sdcMan->getCurrentMountPrefix();
  if (BLOCKING_SD_INIT) {
    ReturnValue_t result = initSdCardBlocking();
-    if (result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_MOUNTED) {
+    if (result != returnvalue::OK and result != SdCardManager::ALREADY_MOUNTED) {
      sif::warning << "CoreController::CoreController: SD card init failed" << std::endl;
    }
  }
  sdStateMachine();
  performMountedSdCardOperations();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "CoreController::initialize: Version initialization failed" << std::endl;
  }
  // Add script folder to path
@ -236,22 +236,22 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_

 ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
                                               uint32_t *msToReachTheMode) {
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t CoreController::initSdCardBlocking() {
  // Create update status file
  ReturnValue_t result = sdcMan->updateSdCardStateFile();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
  }
 #if Q7S_SD_CARD_CONFIG == Q7S_SD_NONE
  sif::info << "No SD card initialization will be performed" << std::endl;
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 #else

  result = sdcMan->getSdCardsStatus(sdInfo.currentState);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "Getting SD card activity status failed" << std::endl;
  }

@ -269,14 +269,14 @@ ReturnValue_t CoreController::initSdCardBlocking() {
  sdCardSetup(sd::SdCard::SLOT_1, sd::SdState::MOUNTED, "1", false);
  // Update status file
  sdcMan->updateSdCardStateFile();
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 #endif

 #endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
 }

 ReturnValue_t CoreController::sdStateMachine() {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  SdCardManager::Operations operation;

  if (sdInfo.state == SdStates::IDLE) {
@ -324,7 +324,7 @@ ReturnValue_t CoreController::sdStateMachine() {
    if (not sdInfo.commandExecuted) {
      // Create update status file
      result = sdcMan->updateSdCardStateFile();
-      if (result != HasReturnvaluesIF::RETURN_OK) {
+      if (result != returnvalue::OK) {
        sif::warning << "CoreController::initialize: Updating SD card state file failed"
                     << std::endl;
      }
@ -343,7 +343,7 @@ ReturnValue_t CoreController::sdStateMachine() {
        sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
        sdInfo.pref = sd::SdCard::SLOT_0;
      }
-      if (result != HasReturnvaluesIF::RETURN_OK) {
+      if (result != returnvalue::OK) {
        sif::warning << "Getting SD card activity status failed" << std::endl;
      }
 #if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
@ -473,7 +473,7 @@ ReturnValue_t CoreController::sdStateMachine() {
    sdcMan->setBlocking(true);
    // Update status file
    result = sdcMan->updateSdCardStateFile();
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
    }
    sdInfo.commandExecuted = false;
@ -497,7 +497,7 @@ ReturnValue_t CoreController::sdStateMachine() {
  }

  sdInfo.cycleCount++;
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 void CoreController::executeNextExternalSdCommand() {
@ -628,28 +628,28 @@ ReturnValue_t CoreController::sdCardSetup(sd::SdCard sdCard, sd::SdState targetS
  } else {
    sif::warning << "CoreController::sdCardSetup: Invalid state for this call" << std::endl;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;

  result = sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
-  if (result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != SdCardManager::ALREADY_MOUNTED and result != returnvalue::OK) {
    sif::warning << "Setting up preferred card " << sdInfo.otherChar
                 << " in cold redundant mode failed" << std::endl;
    // Try other SD card and mark set up operation as failed
    sdCardSetup(sdInfo.pref, sd::SdState::MOUNTED, sdInfo.prefChar);
-    result = HasReturnvaluesIF::RETURN_FAILED;
+    result = returnvalue::FAILED;
  }

-  if (result != HasReturnvaluesIF::RETURN_FAILED and sdInfo.otherState != sd::SdState::OFF) {
+  if (result != returnvalue::FAILED and sdInfo.otherState != sd::SdState::OFF) {
    sif::info << "Switching off secondary SD card " << sdInfo.otherChar << std::endl;
    // Switch off other SD card in cold redundant mode if setting up preferred one worked
    // without issues
    ReturnValue_t result2 =
        sdcMan->switchOffSdCard(sdInfo.other, sdInfo.otherState, &sdInfo.currentState);
-    if (result2 != HasReturnvaluesIF::RETURN_OK and result2 != SdCardManager::ALREADY_OFF) {
+    if (result2 != returnvalue::OK and result2 != SdCardManager::ALREADY_OFF) {
      sif::warning << "Switching off secondary SD card " << sdInfo.otherChar
                   << " in cold redundant mode failed" << std::endl;
    }
@ -660,7 +660,7 @@ ReturnValue_t CoreController::sdColdRedundantBlockingInit() {
 ReturnValue_t CoreController::incrementAllocationFailureCount() {
  uint32_t count = 0;
  ReturnValue_t result = scratch::readNumber(scratch::ALLOC_FAILURE_COUNT, count);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    return result;
  }
  count++;
@ -698,7 +698,7 @@ ReturnValue_t CoreController::initVersionFile() {
    versionFile << fullObswVersionString << std::endl;
    versionFile << fullFsfwVersionString << std::endl;
    versionFile << systemString << std::endl;
-    return HasReturnvaluesIF::RETURN_OK;
+    return returnvalue::OK;
  }

  // Check whether any version has changed
@ -745,7 +745,7 @@ ReturnValue_t CoreController::initVersionFile() {
    versionFile << systemString << std::endl;
  }

-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
@ -800,7 +800,7 @@ ReturnValue_t CoreController::actionListDirectoryIntoFile(ActionId_t actionId,
    utility::handleSystemError(result, "CoreController::actionListDirectoryIntoFile");
    actionHelper.finish(false, commandedBy, actionId);
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t CoreController::initBootCopy() {
@ -815,7 +815,7 @@ ReturnValue_t CoreController::initBootCopy() {
  }

  getCurrentBootCopy(CURRENT_CHIP, CURRENT_COPY);
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 void CoreController::getCurrentBootCopy(xsc::Chip &chip, xsc::Copy &copy) {
@ -829,10 +829,10 @@ void CoreController::getCurrentBootCopy(xsc::Chip &chip, xsc::Copy &copy) {

 ReturnValue_t CoreController::initWatchdogFifo() {
  if (not std::filesystem::exists(watchdog::FIFO_NAME)) {
-    // Still return RETURN_OK for now
+    // Still return returnvalue::OK for now
    sif::info << "Watchdog FIFO " << watchdog::FIFO_NAME << " does not exist, can't initiate"
              << " watchdog" << std::endl;
-    return HasReturnvaluesIF::RETURN_OK;
+    return returnvalue::OK;
  }
  // Open FIFO write only and non-blocking to prevent SW from killing itself.
  watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
@ -843,10 +843,10 @@ ReturnValue_t CoreController::initWatchdogFifo() {
    } else {
      sif::error << "Opening pipe " << watchdog::FIFO_NAME << " write-only failed with " << errno
                 << ": " << strerror(errno) << std::endl;
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
    }
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 void CoreController::initPrint() {
@ -872,7 +872,7 @@ ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size)
    int result = std::system("xsc_boot_copy -r");
    if (result != 0) {
      utility::handleSystemError(result, "CoreController::executeAction");
-      return HasReturnvaluesIF::RETURN_FAILED;
+      return returnvalue::FAILED;
    }
    return HasActionsIF::EXECUTION_FINISHED;
  }
@ -929,14 +929,14 @@ ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size)
    default:
      break;
  }
-  return HasReturnvaluesIF::RETURN_FAILED;
+  return returnvalue::FAILED;
 }

 ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
  bool protOpPerformed = false;
  gracefulShutdownTasks(xsc::Chip::CHIP_0, xsc::Copy::COPY_0, protOpPerformed);
  std::system("reboot");
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
@ -948,7 +948,7 @@ ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy co
  // If any boot copies are unprotected
  ReturnValue_t result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
                                               protOpPerformed, false);
-  if (result == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
+  if (result == returnvalue::OK and protOpPerformed) {
    // TODO: Would be nice to notify operator. But we can't use the filesystem anymore
    // and a reboot is imminent. Use scratch buffer?
    sif::info << "Running slot was writeprotected before reboot" << std::endl;
@ -983,9 +983,9 @@ ReturnValue_t CoreController::generateChipStateFile() {
  int result = std::system(CHIP_PROT_SCRIPT);
  if (result != 0) {
    utility::handleSystemError(result, "CoreController::generateChipStateFile");
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t CoreController::setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy,
@ -1003,7 +1003,7 @@ ReturnValue_t CoreController::setBootCopyProtection(xsc::Chip targetChip, xsc::C
      break;
    }
    case (xsc::Chip::NO_CHIP): {
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
    }
    case (xsc::Chip::SELF_CHIP): {
      selfChip = true;
@ -1020,7 +1020,7 @@ ReturnValue_t CoreController::setBootCopyProtection(xsc::Chip targetChip, xsc::C
      break;
    }
    case (xsc::Copy::NO_COPY): {
-      return HasReturnvaluesIF::RETURN_OK;
+      return returnvalue::OK;
    }
    case (xsc::Copy::SELF_COPY): {
      selfCopy = true;
@ -1042,7 +1042,7 @@ ReturnValue_t CoreController::setBootCopyProtection(xsc::Chip targetChip, xsc::C
  if (protOperationPerformed and updateProtFile) {
    updateProtInfo();
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 int CoreController::handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy,
@ -1130,28 +1130,28 @@ int CoreController::handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy ta

 ReturnValue_t CoreController::updateProtInfo(bool regenerateChipStateFile) {
  using namespace std;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  if (regenerateChipStateFile) {
    result = generateChipStateFile();
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      sif::warning << "CoreController::updateProtInfo: Generating chip state file failed"
                   << std::endl;
      return result;
    }
  }
  if (not filesystem::exists(CHIP_STATE_FILE)) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  ifstream chipStateFile(CHIP_STATE_FILE);
  if (not chipStateFile.good()) {
-    return HasReturnvaluesIF::RETURN_FAILED;
+    return returnvalue::FAILED;
  }
  string nextLine;
  uint8_t lineCounter = 0;
  string word;
  while (getline(chipStateFile, nextLine)) {
    ReturnValue_t result = handleProtInfoUpdateLine(nextLine);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      sif::warning << "CoreController::updateProtInfo: Protection info update failed!" << std::endl;
      return result;
    }
@ -1162,7 +1162,7 @@ ReturnValue_t CoreController::updateProtInfo(bool regenerateChipStateFile) {
                   << std::endl;
    }
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
@ -1207,7 +1207,7 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
    }
    wordIdx++;
  }
-  return HasReturnvaluesIF::RETURN_OK;
+  return returnvalue::OK;
 }

 void CoreController::performWatchdogControlOperation() {
@ -1274,7 +1274,7 @@ ReturnValue_t CoreController::performSdCardCheck() {
  sdcMan->getSdCardsStatus(active);
  auto sdCardCheck = [&](sd::SdCard sdCard) {
    ReturnValue_t result = sdcMan->isSdCardMountedReadOnly(sdCard, mountedReadOnly);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      sif::error << "CoreController::performSdCardCheck: Could not check "
                    "read-only mount state"
                 << std::endl;
@ -1283,13 +1283,13 @@ ReturnValue_t CoreController::performSdCardCheck() {
    if (mountedReadOnly) {
      int linuxErrno = 0;
      result = sdcMan->performFsck(sdCard, true, linuxErrno);
-      if (result != HasReturnvaluesIF::RETURN_OK) {
+      if (result != returnvalue::OK) {
        sif::error << "CoreController::performSdCardCheck: fsck command on SD Card "
                   << static_cast<uint8_t>(sdCard) << " failed with code " << linuxErrno << " | "
                   << strerror(linuxErrno);
      }
      result = sdcMan->remountReadWrite(sdCard);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
+      if (result == returnvalue::OK) {
        sif::warning << "CoreController::performSdCardCheck: Remounted SD Card "
                     << static_cast<uint8_t>(sdCard) << " read-write";
      } else {
@ -1305,7 +1305,7 @@ ReturnValue_t CoreController::performSdCardCheck() {
    sdCardCheck(sd::SdCard::SLOT_1);
  }

-  return RETURN_OK;
+  return returnvalue::OK;
 }

 void CoreController::performRebootFileHandling(bool recreateFile) {
@ -1759,7 +1759,7 @@ ReturnValue_t CoreController::timeFileHandler() {
    // It is assumed that the system time is set from the GPS time
    timeval currentTime = {};
    ReturnValue_t result = Clock::getClock_timeval(&currentTime);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != returnvalue::OK) {
      return result;
    }
    std::string fileName = currMntPrefix + TIME_FILE;
@ -1767,11 +1767,11 @@ ReturnValue_t CoreController::timeFileHandler() {
    if (not timeFile.good()) {
      sif::error << "CoreController::timeFileHandler: Error opening time file: " << strerror(errno)
                 << std::endl;
-      return RETURN_FAILED;
+      return returnvalue::FAILED;
    }
    timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
  }
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 ReturnValue_t CoreController::initClockFromTimeFile() {
@ -1787,18 +1787,18 @@ ReturnValue_t CoreController::initClockFromTimeFile() {
    istringstream iss(nextWord);
    iss >> nextWord;
    if (iss.bad() or nextWord != "UNIX") {
-      return RETURN_FAILED;
+      return returnvalue::FAILED;
    }
    iss >> nextWord;
    if (iss.bad() or nextWord != "SECONDS:") {
-      return RETURN_FAILED;
+      return returnvalue::FAILED;
    }
    iss >> nextWord;
    timeval currentTime = {};
    char *checkPtr;
    currentTime.tv_sec = strtol(nextWord.c_str(), &checkPtr, 10);
    if (iss.bad() or *checkPtr) {
-      return RETURN_FAILED;
+      return returnvalue::FAILED;
    }
 #if OBSW_VERBOSE_LEVEL >= 1
    time_t timeRaw = currentTime.tv_sec;
@ -1808,30 +1808,30 @@ ReturnValue_t CoreController::initClockFromTimeFile() {
 #endif
    return Clock::setClock(&currentTime);
  }
-  return RETURN_OK;
+  return returnvalue::OK;
 }

 void CoreController::readHkData() {
-  ReturnValue_t result = RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  result = hkSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
    return;
  }
  Xadc xadc;
  result = xadc.getTemperature(hkSet.temperature.value);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
    hkSet.temperature.setValid(false);
  } else {
    hkSet.temperature.setValid(true);
  }
  result = xadc.getVccPint(hkSet.psVoltage.value);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
    hkSet.psVoltage.setValid(false);
  } else {
    hkSet.psVoltage.setValid(true);
  }
  result = xadc.getVccInt(hkSet.plVoltage.value);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
    hkSet.plVoltage.setValid(false);
  } else {
    hkSet.plVoltage.setValid(true);
@ -1840,7 +1840,7 @@ void CoreController::readHkData() {
  hkSet.printSet();
 #endif /* OBSW_PRINT_CORE_HK == 1 */
  result = hkSet.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
-  if (result != RETURN_OK) {
+  if (result != returnvalue::OK) {
    return;
  }
 }
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@ -10,7 +10,7 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/platform.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/serviceinterface/ServiceInterfaceStream.h"
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
@ -55,7 +55,7 @@ void initmission::initMission() {

 void initmission::initTasks() {
  TaskFactory* factory = TaskFactory::instance();
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  if (factory == nullptr) {
    /* Should never happen ! */
    return;
@ -69,7 +69,7 @@ void initmission::initTasks() {
  PeriodicTaskIF* coreController = factory->createPeriodicTask(
      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
  result = coreController->addComponent(objects::CORE_CONTROLLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
  }

@ -77,15 +77,15 @@ void initmission::initTasks() {
  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
  }
  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
  }
  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
  }

@ -94,13 +94,13 @@ void initmission::initTasks() {
  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
      "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
  }
  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
  }
 #endif
@ -109,7 +109,7 @@ void initmission::initTasks() {
  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
  }

@ -119,7 +119,7 @@ void initmission::initTasks() {
  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
      "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
  }
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
@ -128,29 +128,34 @@ void initmission::initTasks() {
  PeriodicTaskIF* acsTask = factory->createPeriodicTask(
      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
  result = acsTask->addComponent(objects::GPS_CONTROLLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
  }
 #endif /* OBSW_ADD_ACS_HANDLERS */

+  acsTask->addComponent(objects::ACS_CONTROLLER);
+  if (result != returnvalue::OK) {
+    initmission::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
+  }
+
  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
  static_cast<void>(sysTask);
 #if OBSW_ADD_ACS_HANDLERS == 1
  result = sysTask->addComponent(objects::ACS_BOARD_ASS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
  }
 #endif /* OBSW_ADD_ACS_HANDLERS */
 #if OBSW_ADD_RW == 1
  result = sysTask->addComponent(objects::RW_ASS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
  }
 #endif
 #if OBSW_ADD_SUS_BOARD_ASS == 1
  result = sysTask->addComponent(objects::SUS_BOARD_ASS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
  }
 #endif
@ -163,7 +168,7 @@ void initmission::initTasks() {
  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
  }

@ -203,7 +208,7 @@ void initmission::initTasks() {
  PeriodicTaskIF* fsTask = factory->createPeriodicTask(
      "FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
  result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
  }

@ -211,7 +216,7 @@ void initmission::initTasks() {
  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = strHelperTask->addComponent(objects::STR_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
  }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
@ -220,7 +225,7 @@ void initmission::initTasks() {
  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
  }
 #endif /* OBSW_ADD_PLOC_MPSOC */
@ -229,7 +234,7 @@ void initmission::initTasks() {
  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
  }
 #endif /* OBSW_ADD_PLOC_SUPERVISOR */
@ -238,7 +243,7 @@ void initmission::initTasks() {
  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
  }
 #endif
@ -310,13 +315,13 @@ void initmission::initTasks() {
 void initmission::createPstTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
  result = pst::pstSpi(spiPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
    } else {
@ -331,7 +336,7 @@ void initmission::createPstTasks(TaskFactory& factory,
  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
  result = pst::pstSpiRw(rwPstTask);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
    } else {
@ -345,7 +350,7 @@ void initmission::createPstTasks(TaskFactory& factory,
  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
  result = pst::pstUart(uartPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: UART PST is empty" << std::endl;
    } else {
@ -358,7 +363,7 @@ void initmission::createPstTasks(TaskFactory& factory,
  FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
  result = pst::pstGpio(gpioPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
    } else {
@ -371,7 +376,7 @@ void initmission::createPstTasks(TaskFactory& factory,
  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
  result = pst::pstI2c(i2cPst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: I2C PST is empty" << std::endl;
    } else {
@ -386,7 +391,7 @@ void initmission::createPstTasks(TaskFactory& factory,
  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
  result = pst::pstGompaceCan(gomSpacePstTask);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
    }
@ -398,12 +403,12 @@ void initmission::createPstTasks(TaskFactory& factory,
 void initmission::createPusTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  /* PUS Services */
  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
  }
  taskVec.push_back(pusVerification);
@ -411,11 +416,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
  }
  result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
  }
  taskVec.push_back(pusEvents);
@ -423,11 +428,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
  }
  taskVec.push_back(pusHighPrio);
@ -436,27 +441,27 @@ void initmission::createPusTasks(TaskFactory& factory,
      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);

  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
  }
  taskVec.push_back(pusMedPrio);
@ -464,11 +469,11 @@ void initmission::createPusTasks(TaskFactory& factory,
  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
  }
  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
  }
  taskVec.push_back(pusLowPrio);
@ -478,32 +483,32 @@ void initmission::createTestTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
 #if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = returnvalue::OK;
  static_cast<void>(result);  // supress warning in case it is not used

  PeriodicTaskIF* testTask = factory.createPeriodicTask(
      "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);

  result = testTask->addComponent(objects::TEST_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
  }

 #if OBSW_ADD_SPI_TEST_CODE == 1
  result = testTask->addComponent(objects::SPI_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
  }
 #endif
 #if OBSW_ADD_I2C_TEST_CODE == 1
  result = testTask->addComponent(objects::I2C_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
  }
 #endif
 #if OBSW_ADD_UART_TEST_CODE == 1
  result = testTask->addComponent(objects::UART_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
  }
 #endif
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -20,7 +20,6 @@
 #include "linux/boardtest/UartTestClass.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.h"
-#include "linux/csp/CspCookie.h"
 #include "linux/devices/GPSHyperionLinuxController.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
@ -35,6 +34,8 @@
 #include "linux/obc/PdecHandler.h"
 #include "linux/obc/Ptme.h"
 #include "linux/obc/PtmeConfig.h"
+
+#include "mission/csp/CspCookie.h"
 #include "mission/system/fdir/AcsBoardFdir.h"
 #include "mission/system/fdir/GomspacePowerFdir.h"
 #include "mission/system/fdir/RtdFdir.h"
@ -97,8 +98,8 @@
 ResetArgs RESET_ARGS_GNSS;

 void Factory::setStaticFrameworkObjectIds() {
-  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::packetDestination = objects::TM_FUNNEL;
+  PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;

  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
@ -119,8 +120,7 @@ void Factory::setStaticFrameworkObjectIds() {

  LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;

-  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+  VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
 }

 void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
@ -161,10 +161,10 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
 }

 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
-  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
-  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
-  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
-  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
+  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
+  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
+  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
+  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);

  auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
  P60DockHandler* p60dockhandler =
@ -921,7 +921,7 @@ void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
                              duallane::A_SIDE);
  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != returnvalue::OK) {
    sif::warning << "Sending mode command failed" << std::endl;
  }
 }
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@ -1,7 +1,7 @@
 #ifndef BSP_Q7S_OBJECTFACTORY_H_
 #define BSP_Q7S_OBJECTFACTORY_H_

-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/returnvalues/returnvalue.h>

 #include <string>